/*
 * Simbad - Robot Simulator Copyright (C) 2004 Louis Hugues
 * 
 * This program is free software; you can redistribute it and/or modify it under
 * the terms of the GNU General Public License as published by the Free Software
 * Foundation; either version 2 of the License, or (at your option) any later
 * version.
 * 
 * This program is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
 * details.
 * 
 * You should have received a copy of the GNU General Public License along with
 * this program; if not, write to the Free Software Foundation, Inc., 59 Temple
 * Place, Suite 330, Boston, MA 02111-1307 USA
 * 
 * -----------------------------------------------------------------------------
 * $Author: sioulseuguh $ 
 * $Date: 2005/03/17 17:55:54 $ 
 * $Source: /cvsroot/simbad/src/simbad/demo/BlinkingLampDemo.java,v $
 */
package simbad.demo;

import javax.vecmath.Vector3d;
import javax.vecmath.Vector3f;

import simbad.sim.Agent;
import simbad.sim.Arch;
import simbad.sim.Box;
import simbad.sim.LampActuator;
import simbad.sim.RangeSensorBelt;
import simbad.sim.RobotFactory;
import simbad.sim.Wall;

/**
 * A Lamp actuator demo. The lamp blinks when the robot is approaching an
 * obstacle. The lamp is on when the robot is avoiding an obstacle. The demo
 * also demonstrates the use of quadrants reading for sonar belt.
 */
public class BlinkingLampDemo extends Demo {

	public class Robot extends Agent {

		RangeSensorBelt sonars;
		LampActuator lamp;

		public Robot(Vector3d position, String name) {
			super(position, name);
			sonars = RobotFactory.addSonarBeltSensor(this, 6);
			lamp = RobotFactory.addLamp(this);
		}

		/** Initialize Agent's Behavior */
		@Override
		public void initBehavior() {
		}

		/** Perform one step of Agent's Behavior */
		@Override
		public void performBehavior() {
			// turn lamp On or Off depending on sonars
			lamp.setBlink(false);
			lamp.setOn(false);
			if (sonars.oneHasHit()) {
				lamp.setBlink(true);
				// reads the three front quadrants
				double left = sonars.getFrontLeftQuadrantMeasurement();
				double right = sonars.getFrontRightQuadrantMeasurement();
				double front = sonars.getFrontQuadrantMeasurement();
				// if obstacle near
				if ((front < 1) || (left < 1) || (right < 1)) {
					lamp.setBlink(false);
					lamp.setOn(true);
					if (left < right)
						setRotationalVelocity(-1);
					else
						setRotationalVelocity(1);
					setTranslationalVelocity(0.1);

				} else {
					setRotationalVelocity(0);
					setTranslationalVelocity(0.3);
				}
			} else if (collisionDetected()) {

				lamp.setOn(true);
			} else {
				setTranslationalVelocity(0.8);
				setRotationalVelocity(0);
			}
		}
	}

	public BlinkingLampDemo() {

		Wall w1 = new Wall(new Vector3d(9, 0, 0), 19, 1, this);
		w1.rotate90(1);
		add(w1);
		Wall w2 = new Wall(new Vector3d(-9, 0, 0), 19, 2, this);
		w2.rotate90(1);
		add(w2);
		Wall w3 = new Wall(new Vector3d(0, 0, 9), 19, 1, this);
		add(w3);
		Wall w4 = new Wall(new Vector3d(0, 0, -9), 19, 2, this);
		add(w4);
		Box b1 = new Box(new Vector3d(-3, 0, -3), new Vector3f(1, 1, 2), this);
		add(b1);
		Arch a1 = new Arch(new Vector3d(3, 0, -3), this);
		add(a1);

		// add(new Robot(new Vector3d(-3, 0, 4), "blinker"));
		add(new Robot(new Vector3d(0, 0, 4), "blinker"));
		add(new Robot(new Vector3d(3, 0, 4), "blinker"));

	}
}